Finally got this code reviewed, bugfixes

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 3d406d7cbe506b886f86ed305d052d93e4953b9f..73dcde7087954b041c3e102516b973dfa4de42d1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -12,7 +12,9 @@ import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 
 public class DriveTrain extends PIDSubsystem {
+  // Determines if the "front" of the robot has been reversed
   private boolean outputFlipped = false;
+
   private static double pidOutput = 0;
 
   private Encoder leftEncoder, rightEncoder;
@@ -193,8 +195,12 @@ public class DriveTrain extends PIDSubsystem {
 
   public void joystickDrive(double left, double right) {
     int type = Constants.DriveTrain.DRIVE_TYPE;
+
+    // Handle flipping of the "front" of the robot
     double k = (isFlipped() ? -1 : 1);
+
     if (type == Constants.DriveTrain.TANK) {
+      // TODO Test this for negation and for voltage vs. [-1,1] outputs
       double leftSpeed = (-frontLeft.get() + -rearLeft.get()) / 2;
       double rightSpeed = (-frontRight.get() + -rearRight.get()) / 2;
       left = ((Constants.DriveTrain.kADJUST - 1) * leftSpeed + left)